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. Author manuscript; available in PMC: 2019 Sep 3.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2016 Jul 28;2016:299–304. doi: 10.1109/BIOROB.2016.7523642

Fig. 2.

Fig. 2.

A schematic of the fabrication process of the soft grippers: (a) SU-8 is spin-coated on a polyvinyl alcohol (PVA) sacrificial layer. (b) The SU-8 film is photopatterned and exposed to ultraviolet (UV) light. (c) A 95% poly-N-isopropylacrylamide (pNIPAM-AAc) and 5% biocompatible Fe2O3 layer is deposited on the SU-8 layer. (d) The coated surface is photopatterned and exposed to UV light to obtain segmented, multi-fingered, bilayer grippers with rigid phalanges and flexible joints. (e) Schematic images of the untethered grippers in open and closed (grasping) configurations. Also shown is a side-view of a single hinge.